function X = computeIntersection(a1, b1, c1, a2, b2, c2)
det = a1 * b2 - b1 * a2;
x = (b1 * c2 - b2 * c1) / det;
y = (a2 * c1 - a1 * c2) / det;
X = [x y]';
end